• 150 Years of the Mass Action Law 

      Voit, Eberhard; Martens, Harald; Omholt, Stig William (Journal article; Peer reviewed, 2015)
      This year we celebrate the 150th anniversary of the law of mass action. This law is often assumed to have been “there” forever, but it has its own history, background, and a definite starting point. The law has had an ...
    • A 3D reactive collision avoidance algorithm for underactuated underwater vehicles 

      Syre Wiig, Martin; Pettersen, Kristin Y.; Krogstad, Thomas Røbekk (Peer reviewed; Journal article, 2020)
      Avoiding collisions is an essential goal of the control system of autonomous vehicles. This paper presents a reactive algorithm for avoiding obstacles in a three‐dimensional space, and shows how the algorithm can be applied ...
    • A 3DOF Path-Following Controller for a Non-Directionally Stable Vessel with Slow Thruster Dynamics 

      Thyri, Emil Hjelseth; Bitar, Glenn Ivan; Breivik, Morten (Peer reviewed; Journal article, 2021)
      In this paper, a 3DOF path-following controller for an electric double-ended passenger ferry prototype is presented. The controller is formulated through a 3-step backstepping approach, taking into consideration several ...
    • A 3D Reactive Collision Avoidance Algorithm for Underactuated Vehicles 

      Syre Wiig, Martin; Pettersen, Kristin; Krogstad, Thomas Røbekk (Journal article; Peer reviewed, 2019)
      This paper presents a 3D reactive collision avoidance algorithm for vehicles with underactuated dynamics. The underactuated states cannot be directly controlled, but are controlled indirectly by steering the direction of ...
    • A Comparative Study of Different Control Structures for Flight Control with New Results 

      Oland, Espen; Kristiansen, Raymond; Gravdahl, Jan Tommy (Journal article; Peer reviewed, 2018)
      This paper presents several different control structures that facilitate flight control and does a comparison between them. Specifically, this paper considers command-filtered backstepping, nonlinear dynamic inversion ...
    • A computational pipeline for quantification of mouse myocardial stiffness parameters 

      Nordbø, Øyvind; Lamata, P.; Land, Sander; Niederer, Steven A.; Aronsen, Jan Magnus; Louch, William Edward; Sjaastad, Ivar; Martens, Harald; Gjuvsland, Arne Bjørke; Tøndel, Kristin; Torp, Hans; Lohezic, M; Schneider, Jürgen; Remme, Espen W.; Smith, Nicolas P; Omholt, Stig W; Vik, Jon Olav (Journal article; Peer reviewed, 2014)
      The mouse is an important model for theoretical–experimental cardiac research, and biophysically based whole organ models of the mouse heart are now within reach. However, the passive material properties of mouse myocardium ...
    • A computationally efficient model predictive control scheme for space debris rendezvous 

      Larsén, Alexander; Chen, Yutao; Bruschetta, Mattia; Carli, Ruggero; Cenedese, Angelo; Varagnolo, Damiano; Felicetti, Leonard (Journal article; Peer reviewed, 2019)
      We propose a non-linear model predictive scheme for planning fuel efficient maneuvers of small spacecrafts that shall rendezvous space debris. The paper addresses the specific issues of potential limited on-board computational ...
    • A control framework for biologically inspired underwater swimming manipulators equipped with thrusters 

      Sverdrup-Thygeson, Jørgen; Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy (IFAC Proceedings series;, Journal article; Peer reviewed, 2016)
      In this paper we present a control framework for a novel biologically inspired underwater swimming manipulator (USM) equipped with thrusters. The framework consists of a kinematic part and a dynamic part. The kinematic ...
    • A control framework for snake robot locomotion based on shape control points interconnected by Bézier curves 

      Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy (Journal article; Peer reviewed, 2012)
      This paper presents a control framework for shape control of snake robots for the purpose of locomotion. An advantage of the framework is that it allows the macroscopic shape of a snake robot to be controlled explicitly ...
    • A Cyber-Physical Systems Approach for Implementing the Receding Horizon Optimal Power Flow in Smart Grids 

      Maffei, Alessio; Srinivasan, Seshadhri; Meola, Daniela; Palmieri, Giovanni; Iannelli, Luigi; Holhjem, Øystein Hov; Marafioti, Giancarlo; Mathisen, Geir; Glielmo, Luigi (Journal article; Peer reviewed, 2017)
      Two Major challenges in securing reliable Optimal Power Flow (OPF) operations are: (i) fluctuations induced due to renewable generators and energy demand, and (ii) interaction and interoperability among the different ...
    • A deep learning enabler for non-intrusive reduced order modeling of fluid flows 

      Pawar, Suraj; Rahman, Sk. Mashfiqur; Vaddireddy, H; San, Omer; Rasheed, Adil; Vedula, Prakash (Journal article; Peer reviewed, 2019)
      In this paper, we introduce a modular deep neural network (DNN) framework for data-driven reduced order modeling of dynamical systems relevant to fluid flows. We propose various DNN architectures which numerically predict ...
    • A Distributed Algorithm for Scenario-based Model Predictive Control using Primal Decomposition * 

      Krishnamoorthy, Dinesh; Foss, Bjarne Anton; Skogestad, Sigurd (Journal article; Peer reviewed, 2018)
      In this paper, we consider the decomposition of scenario-based model predictive control problem. Scenario MPC explicitly considers the concept of recourse by representing the evolution of uncertainty by a discrete scenario ...
    • A distributed parameter systems view of control problems in drilling 

      Di Meglio, Florent; Aarsnes, Ulf Jakob Flø (Journal article; Peer reviewed, 2015)
      We give a detailed view of estimation and control problems raised by the drilling process where the distributed nature of the system cannot be ignored. In particular, we focus on the transport phenomena in Managed Pressure ...
    • A dither-free extremum-seeking control approach using 1st-order least-squares fits for gradient estimation 

      Hunnekens, Bram; Haring, Mark; van de Wouw, Nathan; Nijmeijer, Hendrik (Journal article; Peer reviewed, 2014)
    • A Fault Tolerant Control Scheme Using the Feasible Constrained Control Allocation Strategy 

      Naderi, Mehdi; Johansen, Tor Arne; Sedigh, Ali K. (Journal article; Peer reviewed, 2019)
      This paper investigates the necessity of feasibility considerations in a fault tolerant control system using the constrained control allocation methodology where both static and dynamic actuator constraints are considered. ...
    • A Formation of Unmanned Vehicles for Tracking of an Acoustic Fish-Tag 

      Zolich, Artur Piotr; Johansen, Tor Arne; Alfredsen, Jo Arve; Kuttenkeuler, J; Erstorp, E (Chapter; Peer reviewed, 2017)
      In this paper we present a proof-of-concept for an hydro acoustic fish-tag position estimation and tracking system. In our field-tested concept, a formation of Unmanned Surface Vehicles (USV) creates a mobile array of ...
    • A Framework for Diagnosis of Critical Faults in Unmanned Aerial Vehicles 

      Hansen, Søren; Blanke, Mogens; Adrian, Jens (Journal article; Peer reviewed, 2014)
      Unmanned Aerial Vehicles (UAVs) need a large degree of tolerance towards faults. If not diagnosed and handled in time, many types of faults can have catastrophic consequences if they occur during flight. Prognosis of faults ...
    • A Framework for Fault Diagnosis in Managed Pressure Drilling Applied to Flow-Loop Data 

      Willersrud, Anders; Imsland, Lars Struen; Pavlov, Alexey; Kaasa, Glenn-Ole (Journal article; Peer reviewed, 2013)
      Data from a medium-scale horizontal flow loop test facility is used to test fault diagnosis in managed pressure drilling. The faults are downhole incidents such as formation influx, fluid loss, drillstring washout, pack-off, ...
    • A fully differential capacitively-coupled high CMRR low-power chopper amplifier for EEG dry electrodes 

      Habibzadeh Tonekabony Shad, Erwin; Molinas Cabrera, Maria Marta; Ytterdal, Trond (Journal article; Peer reviewed, 2020)
      The use of dry electrodes is increasing rapidly. Since their impedance is high, there is a high impedance node at the connecting node between the electrode and amplifier. This leads to absorb powerline signal and high CMRR ...
    • A Geometric Approach to the Design of Serial and Parallel Manipulators with Passive Joints 

      Pham, Cong Dung; From, Pål Johan; Gravdahl, Jan Tommy (Journal article; Peer reviewed, 2014)
      The use of robotic manipulators in remote and sensitive areas calls for more robust solutions when handling joint failure, and the industry demands mathematically robust approaches to handle even the worst case scenarios. ...